We study the question of feature sets for robust visual object recognition; adopting linear SVM based human detection as a test case. After reviewing existing edge and gradient based descriptors, we show experimentally that grids of histograms of oriented gradient (HOG) descriptors significantly outperform existing feature sets for human detection. We study the influence of each stage of the computation on performance, concluding that fine-scale gradients, fine orientation binning, relatively coarse spatial binning, and high-quality local contrast normalization in overlapping descriptor blocks are all important for good results. The new approach gives near-perfect separation on the original MIT pedestrian database, so we introduce a more challenging dataset containing over 1800 annotated human images with a large range of pose variations and backgrounds.

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Histograms of oriented gradients for human detection

We present a new dataset with the goal of advancing the state-of-the-art in object recognition by placing the question of object recognition in the context of the broader question of scene understanding. This is achieved by gathering images of complex everyday scenes containing common objects in their natural context. Objects are labeled using per-instance segmentations to aid in precise object localization. Our dataset contains photos of 91 objects types that would be easily recognizable by a 4 year old. With a total of 2.5 million labeled instances in 328k images, the creation of our dataset drew upon extensive crowd worker involvement via novel user interfaces for category detection, instance spotting and instance segmentation. We present a detailed statistical analysis of the dataset in comparison to PASCAL, ImageNet, and SUN. Finally, we provide baseline performance analysis for bounding box and segmentation detection results using a Deformable Parts Model.

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Microsoft COCO: Common Objects in Context

We present YOLO, a new approach to object detection. Prior work on object detection repurposes classifiers to perform detection. Instead, we frame object detection as a regression problem to spatially separated bounding boxes and associated class probabilities. A single neural network predicts bounding boxes and class probabilities directly from full images in one evaluation. Since the whole detection pipeline is a single network, it can be optimized end-to-end directly on detection performance. Our unified architecture is extremely fast. Our base YOLO model processes images in real-time at 45 frames per second. A smaller version of the network, Fast YOLO, processes an astounding 155 frames per second while still achieving double the mAP of other real-time detectors. Compared to state-of-the-art detection systems, YOLO makes more localization errors but is less likely to predict false positives on background. Finally, YOLO learns very general representations of objects. It outperforms other detection methods, including DPM and R-CNN, when generalizing from natural images to other domains like artwork.

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You Only Look Once: Unified, Real-Time Object Detection

Object detection performance, as measured on the canonical PASCAL VOC dataset, has plateaued in the last few years. The best-performing methods are complex ensemble systems that typically combine multiple low-level image features with high-level context. In this paper, we propose a simple and scalable detection algorithm that improves mean average precision (mAP) by more than 30% relative to the previous best result on VOC 2012 -- achieving a mAP of 53.3%. Our approach combines two key insights: (1) one can apply high-capacity convolutional neural networks (CNNs) to bottom-up region proposals in order to localize and segment objects and (2) when labeled training data is scarce, supervised pre-training for an auxiliary task, followed by domain-specific fine-tuning, yields a significant performance boost. Since we combine region proposals with CNNs, we call our method R-CNN: Regions with CNN features. We also present experiments that provide insight into what the network learns, revealing a rich hierarchy of image features. Source code for the complete system is available at http://www.cs.berkeley.edu/~rbg/rcnn.

/pdf/rich-feature-hierarchies-for-accurate-object-detection-and-22fvjlggyg.pdf

Rich Feature Hierarchies for Accurate Object Detection and Semantic Segmentation

Feature pyramids are a basic component in recognition systems for detecting objects at different scales. But pyramid representations have been avoided in recent object detectors that are based on deep convolutional networks, partially because they are slow to compute and memory intensive. In this paper, we exploit the inherent multi-scale, pyramidal hierarchy of deep convolutional networks to construct feature pyramids with marginal extra cost. A top-down architecture with lateral connections is developed for building high-level semantic feature maps at all scales. This architecture, called a Feature Pyramid Network (FPN), shows significant improvement as a generic feature extractor in several applications. Using a basic Faster R-CNN system, our method achieves state-of-the-art single-model results on the COCO detection benchmark without bells and whistles, surpassing all existing single-model entries including those from the COCO 2016 challenge winners. In addition, our method can run at 5 FPS on a GPU and thus is a practical and accurate solution to multi-scale object detection. Code will be made publicly available.

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Feature Pyramid Networks for Object Detection

This paper is a survey of the theory and methods of photogrammetric bundle adjustment, aimed at potential implementors in the computer vision community. Bundle adjustment is the problem of refining a visual reconstruction to produce jointly optimal structure and viewing parameter estimates. Topics covered include: the choice of cost function and robustness; numerical optimization including sparse Newton methods, linearly convergent approximations, updating and recursive methods; gauge (datum) invariance; and quality control. The theory is developed for general robust cost functions rather than restricting attention to traditional nonlinear least squares.

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Bundle Adjustment - A Modern Synthesis

Making recognition more reliable under uncontrolled lighting conditions is one of the most important challenges for practical face recognition systems. We tackle this by combining the strengths of robust illumination normalization, local texture-based face representations, distance transform based matching, kernel-based feature extraction and multiple feature fusion. Specifically, we make three main contributions: 1) we present a simple and efficient preprocessing chain that eliminates most of the effects of changing illumination while still preserving the essential appearance details that are needed for recognition; 2) we introduce local ternary patterns (LTP), a generalization of the local binary pattern (LBP) local texture descriptor that is more discriminant and less sensitive to noise in uniform regions, and we show that replacing comparisons based on local spatial histograms with a distance transform based similarity metric further improves the performance of LBP/LTP based face recognition; and 3) we further improve robustness by adding Kernel principal component analysis (PCA) feature extraction and incorporating rich local appearance cues from two complementary sources-Gabor wavelets and LBP-showing that the combination is considerably more accurate than either feature set alone. The resulting method provides state-of-the-art performance on three data sets that are widely used for testing recognition under difficult illumination conditions: Extended Yale-B, CAS-PEAL-R1, and Face Recognition Grand Challenge version 2 experiment 4 (FRGC-204). For example, on the challenging FRGC-204 data set it halves the error rate relative to previously published methods, achieving a face verification rate of 88.1% at 0.1% false accept rate. Further experiments show that our preprocessing method outperforms several existing preprocessors for a range of feature sets, data sets and lighting conditions.

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Enhanced Local Texture Feature Sets for Face Recognition Under Difficult Lighting Conditions

Detecting humans in films and videos is a challenging problem owing to the motion of the subjects, the camera and the background and to variations in pose, appearance, clothing, illumination and background clutter. We develop a detector for standing and moving people in videos with possibly moving cameras and backgrounds, testing several different motion coding schemes and showing empirically that orientated histograms of differential optical flow give the best overall performance. These motion-based descriptors are combined with our Histogram of Oriented Gradient appearance descriptors. The resulting detector is tested on several databases including a challenging test set taken from feature films and containing wide ranges of pose, motion and background variations, including moving cameras and backgrounds. We validate our results on two challenging test sets containing more than 4400 human examples. The combined detector reduces the false alarm rate by a factor of 10 relative to the best appearance-based detector, for example giving false alarm rates of 1 per 20,000 windows tested at 8% miss rate on our Test Set 1.

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Human detection using oriented histograms of flow and appearance

Bag-of-features representations have recently become popular for content based image classification owing to their simplicity and good performance. They evolved from texton methods in texture analysis. The basic idea is to treat images as loose collections of independent patches, sampling a representative set of patches from the image, evaluating a visual descriptor vector for each patch independently, and using the resulting distribution of samples in descriptor space as a characterization of the image. The four main implementation choices are thus how to sample patches, how to describe them, how to characterize the resulting distributions and how to classify images based on the result. We concentrate on the first issue, showing experimentally that for a representative selection of commonly used test databases and for moderate to large numbers of samples, random sampling gives equal or better classifiers than the sophisticated multiscale interest operators that are in common use. Although interest operators work well for small numbers of samples, the single most important factor governing performance is the number of patches sampled from the test image and ultimately interest operators can not provide enough patches to compete. We also study the influence of other factors including codebook size and creation method, histogram normalization method and minimum scale for feature extraction.

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Bill Triggs

Papers

Histograms of oriented gradients for human detection

Bundle Adjustment - A Modern Synthesis

Enhanced Local Texture Feature Sets for Face Recognition Under Difficult Lighting Conditions

Human detection using oriented histograms of flow and appearance

Sampling strategies for bag-of-features image classification